GKL current sensor control nut runner system

G S K
G K L

Items

System configuration ・・・・・・・・・・ P 87
Nut runner ・・・・・・・・・・・・・・・・・・・・・ P 89

Cable ・・・・・・・・・・・・・・・・・・・・・・・・・・・ P 111
Setting software ・・・・・・・・・・・・・・・ P 121

System GSK

Controller ・・・・・・・・・・・・・・・・・・・・・・ P 99

Positioning GSK

Features ・・・・・・・・・・・・・・・・・・・・・・・・ P 85

Peripheral device/option

83

84

GKL current sensor control nut runner system◆Outline of system■ The current sensor feed back control system"GKL"is the torque control type nut runner

Feature■Predictive maintenance function is mounted
on the nut runner for the first timeError ofdevicesystem that enables the various tightening methods to many types of tightening■Torque sensor is not equipped due to the current sensor control system.

Motorcurrent◆ＡＮＭ（Ｒ）Nut runner

Be careful
about load

Normal
range

Cycle

■It is a low cost product line compared to GSK.

■Globalization of communication
is supported■Suitable for screw loosening equipment.

■ The interface unit is a device communicating with an external unit such as sequencer,

・M-NET
・CC-LINK
・Device-NET
・PROFI-NET-I/O

・PROFI-NET-IRT
・FL-NET・Ether-NET
communication can be supported

display, setting PC, and printer.
■ GSK system can display the information related to tightening control such as setting
data and tightening result by connecting PC to IF unit.
■ ANYBUS supports various fieldbuses.

Positioning GSK◆Interface unit (Common to series)

FeatureStop of equipment due to failure can beprevented by forecasting heat generation of
motor, degradation of bearing, damage ofreduction gear etc. and outputting protection
warning and outputting the life alarm of
consumable parts mounted on controller
such as capacitor, relay, EEPROM.

■Rotation number can be freely set in a range from low-speed to high-speed rotation.
■Wide torque range from low torque to high torque with a variety range of types.

Prediction is output before stop by alarm ofdevice error utilizing the status monitoring.

G S K

objects.

■ The interface unit is equipped with communication function supporting single axis andSystem GSK

multi-axis controller 1-axis to 30-axis and 1 unit is attached to 1 set. (in case of 31-aixs
or more, 2units are required.)■ Confirmation result data can be confirmed without connection with PC by connecting
the dedicated printer.

Peripheral device/option◆Controller unit
■ Tightening torque accuracy（ 3σ/X） Target torque ±10％〜±12％■ It is possible with the stall control. which is suitable for keeping torque and soft-ioint
tightening.
■ High reliability makes it always possible to check the current sensor and gear
re-duction part evry time. (Because of setting required.)■ Tightening program sets the rotation number and torque control, faciliating various
tightening patterns.
■ Two setup methods are provided to set up the tightening pogram:The input methodfrom the set up personal computer:and that from the controller front panel.
※"GKL"There is no angle judgment control from snug torque.

85

86

GKL current sensor control nut runner system

System conﬁguration■GKL system configuration■GKLW system configuration
G S K【Controller】【Controller】【Inter face】
M-net

Motor cable

Controlpower supply
DC24V【Controller】【Inter face】

PLC

Controlpower supply
DC24V

M-net
Control
power
supplyDC24VControlpower supply
DC24V

Motor cable

Display
GSK/
GKL

Drive
power
supplyAC200VDrive
power
supplyAC200V

Display
GSK/
GKL

ID controller

ID controller

Encode cable(Resolver cable)

Printer

Controlpower supply
DC24V

Encode cable(Resolver cable)

Printer

Positioning GSK

Drive
power
supplyAC200V

PLC

Setting PC

Setting PC

Drive
power
supplyAC200V

Sequencer

System configuration

Controlpower supply
DC24V【Controller】

Sequencer

System GSK【Nut runner】

87【Nut runner】【Nut runner】【Nut runner】

88【Nut runner】

Peripheral device/option【Nut runner】

GKL current sensor control nut runner system◆Nut runner model composition

Nut runner model composition◆Series list
Series

M - 400
①

②

ANM
ANM-L

③

ANR
ANR-L

Features
Straight type

Encoder

External offset type
Straight type

Resolver

G S K

AN

Angle sensor type

External offset type
※Resolver specificationis is a custom item.

Nut runner①Angle sensor type
M ： Encoder
R ： Resolver※Resolver specification is semi-ordered.

Positioning GSK②Torque division
Notation unit

kgf・cm③Special symbolＡ
System GSK

Blank： Straight type
L ： External offset type

Peripheral device/option

89

90Encoder specification

GKL current sensor control nut runner system

ANM seriesSpecification/Dimension Table■Straight type
Weight［kg］

Drive power supply (AC200V)
Supply current capacity
Rated value［A rms］

18

310

1.3

0.6

ANM-320

28

430

1.6

1.2

ANM-400

35

310

1.6

1.2

ANM-640

55

420

3.4

2.3

ANM-1200

110

420

4.2

4.5

ANM-1800

170

285

5.2

4.5

ANM-3100

265

235

8.5

8.5

GKL-14(T4)-E-N2
GKLW-14(T4)-E-N2

A

B

Nut runner

ANM-220

Crosspounding
controller

G S K

Model

Maximum
Max torque rotational
speed
［N・m］
［rpm］

GKL-15(T5)-E-N2
GKLW-15(T5)-E-N2

Positioning GSK

Torque Nm

260
240

System GSK

220
200
180
160
140

100
80

Nut runner
model

Shape

60

ANM-220A

5 11 18 51 2-M6 3.2 12

34

40

ANM-320A

8 16 23 51 2-M6 4.2 17

20

ANM-400

A0

ANM-640
ANM-220

ANM-320

ANM-400

ANM-64091

ANM-1200

ANM-1800

ANM-3100hMO-0.025-0.050

179.5

158.5

21

42

64

9.52

34

-0.025-0.050

232.7

206.7

26

42

64

12.7

8 16 23 51 2-M8 4.2 17

34-0.025-0.050

232.7

206.7

26

42

64

12.7

A

9 18 28 62 2-M8 5.2 19

44-0.025-0.050

246.9

215.9

31

61

80

15.87

ANM-1200A

9 18 28 62 2-M8 5.2 19

44-0.025-0.050

312.2

281.2

31

61

80

15.87

ANM-1800B

13 25 36 68 3-M8 5.2 24

50

-0.03
-0.05

357.2

318.2

39

61

82

19.05

ANM-3100

B

13 25 36 72 3-M8 5.2 24

50

-0.03
-0.05

362.2

323.2

39

66

86

19.05

c

D

e

f

W

Lʼ

b

d

G

L

a

Reference
dimension

92

Tolerance

Reference
dimension

Peripheral device/option120

Encoder specification

GKL current sensor control nut runner system

ANM-L seriesSpecification/Dimension Table■External offset type
L

Weight［kg］

Drive power supply (AC200V)
Supply current capacity
Rated value［A rms］

ANM-220L

17.5

305

1.5

0.6

ANM-320L

27

420

2.9

1.2

ANM-400L

41

310

2.9

1.2

b

d

O

4.2

2.3

ANM-1200L

105

420

5.0

4.5

Reference
dimension Tolerance

D
R1

φ

M

H

R2

e

φf

GKL-14(T4)-E-N2
GKLW-14(T4)- E-N2

φG

φP

Nut runner

410

f

c

30ﾟ

53

L2

a

W

ANM-640L

11

h

N

Model

Crosspounding
controller

L1

G S K

Max torque［N・m］

Maximumrotational
speed
［rpm］

GKL-15(T5)-E-N2
GKLW-15(T5)-E-N2

100
90
80

ANM-220L

7.5 21 11 51 2-M6 3.2 11.5

34

ANM-320L

9

24 12 51 2-M6 4.2 16.5

ANM-400L

9

b

c

D

d

e

N

O

-0.025286.5-0.050117 158.5 33 43

25

64 4

8 14.5 18.75

9.52

34

-0.025-0.050 343.7

126 206.7 37 43

25

64 4

8 14.5 18.75

12.7

24 12 51 2-M8 4.2 16.5

34

-0.025-0.050 343.7

126 206.7 37 43

25

64 4

8 14.5 18.75

12.7

ANM-640L

9.5 26 13.5 62 2-M8 5.2 19.5

44

-0.025-0.050 344.9

118 215.9 40 61

30

76 5

9

20

30

15.87

ANM-1200L

9.5 26 13.5 62 2-M8 5.2 19.5

44

-0.025-0.050 410.2

118 281.2 40 61

30

76 5

9

20

30

15.87

50

L1

L2

h

P

R1 R2

H

W

M

60

L

Reference
dimension

System GSK

70a

Positioning GSK

Torque Nm

G

Nut runner
model

40

Peripheral device/option

30
20
10
0

ANM-220L

ANM-320L

ANM-400L93

ANM-640L

ANM-1200L

94

Encoder specification

GKL current sensor control nut runner system

ANR series※Resolver specificationis is a custom item.

Specification/Dimension Table■Straight type
Weight［kg］

Drive power supply (AC200V)
Supply current capacity
Rated value［A rms］

ANR-220

18

310

1.3

0.6

ANR-320

28

430

1.6

1.2

ANR-400

35

310

1.6

1.2

ANR-640

55

420

3.4

2.3

ANR-1200

110

420

4.2

4.5

ANR-1800

170

285

5.2

4.5

ANR-3100

265

235

8.5

8.5

Crosspounding
controller

GKL-14(T4)-R-N2
GKLW-14(T4)-R-N2

A

B

Nut runnerMaximumrotational
speed
［rpm］

G S K

Model

Max torque［N・m］

GKL-15(T5)-R-N2
GKLW-15(T5)-R-N2

Positioning GSK※Resolver specificationis is a custom item.

Torque Nm

260
240

System GSK

220
200
180
160
140

100
80

Nut runner
model

Shape

60

ANR-220

A

40

ANR-320200

ANR-220

ANR-320

ANR-400

ANR-64095

ANR-1200

ANR-1800

ANR-3100

a

b

c

D

d

e

f

G

W

L

Lʼ

h

M

O

-0.025-0.050

179.5

158.5

21

42

64

9.52

34

-0.025-0.050

232.7

206.7

26

42

64

12.7

8 16 23 51 2-M8 4.2 17

34-0.025-0.050

232.7

206.7

26

42

64

12.7

A

9 18 28 62 2-M8 5.2 19

44-0.025-0.050

246.9

215.9

31

61

80

15.87

ANR-1200A

9 18 28 62 2-M8 5.2 19

44-0.025-0.050

312.2

281.2

31

61

80

15.87

ANR-1800B

13 25 36 68 3-M8 5.2 24

50

-0.03
-0.05

357.2

318.2

39

61

82

19.05

ANR-3100

B

13 25 36 72 3-M8 5.2 24

50

-0.03
-0.05

362.2

323.2

39

66

86

19.05

Reference
dimension

Tolerance

5 11 18 51 2-M6 3.2 1234

A

8 16 23 51 2-M6 4.2 17

ANR-400

A

ANR-64096

Reference
dimension

Peripheral device/option120

Encoder specification

GKL current sensor control nut runner system

ANR-L series※Resolver specificationis is a custom item.

Specification/Dimension Table■External offset typeL

0.6

ANR-320L

27

420

2.9

1.2

ANR-400L

41

310

2.9

1.2

R1

M
φP

GKL-14(T4)-R-N2
GKLW-14(T4)- R-N2

R2

e

410

4.2

2.3

ANR-1200L

105

420

5.0

4.5

Nut runner

53

Reference
dimension Tolerance

D

φ

W

ANR-640L

f

c

a

φG

1.5

b

d

O

φf

305

L2

H

17.5

11

h

N

ANR-220L

Model

Crosspounding
controller

L1

G S K

Weight［kg］

Drive power supply (AC200V)
Supply current capacity
Rated value［A rms］

30ﾟ

Max torque［N・m］

Maximumrotational
speed
［rpm］

GKL-15(T5)-R-N2
GKLW-15(T5)-R-N2※Resolver specificationis is a custom item.

100
90
80

ANR-220L

7.5 21 11 51 2-M6 3.2 11.5

34

ANR-320L

9

24 12 51 2-M6 4.2 16.5

ANR-400L

9

b

c

D

N

O

P R1 R2-0.025286.5 117-0.050158.5 33 43

25

64

4

8 14.5 18.75

9.52

34

-0.025343.7 126
-0.050206.7 37 43

25

64

4

8 14.5 18.75

12.7

24 12 51 2-M8 4.2 16.5

34

-0.025-0.050 343.7 126

206.7 37 43

25

64

4

8 14.5 18.75

12.7

ANR-640L

9.5 26 13.5 62 2-M8 5.2 19.5

44

-0.025-0.050 344.9 118

215.9 40 61

30

76

5

9

20

30

15.87

ANR-1200L

9.5 26 13.5 62 2-M8 5.2 19.5

44

-0.025-0.050 410.2 118

281.2 40 61

30

76

5

9

20

30

15.87

e

60
50

L

L1

L2

h

H

W

M

d

Reference
dimension

System GSK

70a

Positioning GSK

Torque Nm

G

Nut runner
model

40

Peripheral device/option

30
20
10
0

ANR-220L

ANR-320L

ANR-400L97

ANR-640L

ANR-1200L

98

GKL current sensor control nut runner system

Part names■Interface■Controller
CN12

SD

【1axis control specification】

card

PLC
M-NET

（Ethernet） CN13CN4

CN3Motor drive
power supply

CC-LINK

CN12

GSK/
GKL

Corresponding standard

Encoder(resolver)cable

ID Controller

CN8

CN10
CN10

PROFI-NET-IRT

Encoder(resolver)
cable

Interface

CN10
CN22

Drive power
supplyAC200〜220V

PrinterInterface

Drive power
supplyAC200〜220V

FL-NET
Ether-NET
CN11

GKL-14-□□-N□

Battery

Name

Connector model

CN5

CN7
CN8

Port forconnecting
to controller

MSTB2.5/4-GF-5.08(PHOENIXCONTACT)

Communication
1-1827876-4
port(TE Connectivity)for display
Communication
1-1827876-4
port
for ID controller (TE Connectivity)

Communication
1-1827876-2
CN10 port for printer(TE Connectivity)
CN11
CN12

Battery
SD cardslot-

Opponent's connector
pin

Opponent's
connector
Accessories

Remarks

CN1

Control power supply
input port

734-166 (WAGO)

734-106 (WAGO)

-

○

DC24V

-

○

ARC-NET

AC200〜220V

CN3

1827570-2(TE Connectivity)

-

M-NET

734-104(WAGO)

-

○

DC24V

USB
Type B-MSTB2.5/4STF-5.08(PHOENIXCONTACT)-○

ARC-NET

1-1827864-4(TE Connectivity)

1827570-2(TE Connectivity)

-

RS422

1-1827864-4(TE Connectivity)

1827570-2(TE Connectivity)

-

RS422

1-1827864-2(TE Connectivity)

1827570-2(TE Connectivity)-

RS232C

Cable model：GK-PRN-1.5M：GK-PRN-3.0M

-

○

-

Battery type:CR2450/PanasonicBattery is included
It corresponds to SD and SDHC
SD card model:GK-SD-32G

USB

-

-

-

-

-

CN13 Communication
port for anybus

-

-

-

-

Communication
CN14 port for anybus

-

-

-

-

Compatible
with various
communication
methods

99

Opponent's connector
housing

Remarks

1-1827864-3(TE Connectivity)-

Connector model

Cable model：GK-SET-1.8M

Cable model：GSK-DIS-10M：GSK-DIS-15M

Interfaces and controller MSTB2.5/4-GF-5.08 MSTB2.5/4-STF-5.08
communication ports(PHOENIX CONTACT) (PHOENIX CONTACT)

CN10

Input port fordrive power supply

1-179277-2(TE Connectivity)

1-178128-4(TE Connectivity)

1-175218-2(TE Connectivity)

○

CN11

Ports that supply power
to the first axis motor

2-179277-2(TE Connectivity)

2-178128-4(TE Connectivity)

1-353717-2(TE Connectivity)

-

CN12

Ports that supply power
to the second axis motor

2-179277-2(TE Connectivity)

2-178128-4(TE Connectivity)

1-353717-2(TE Connectivity)

-

CN21

Port for connecting
axis 1 sensor

10220-52-A2PL(Sumitomo 3M)

10320-5Ａ0-008(Sumitomo 3M)

10120-3000VE(Sumitomo 3M)

-

CN22

Port for connecting
axis 2 sensor

10220-52-A2PL(Sumitomo 3M)

10320-5Ａ0-008(Sumitomo 3M)

10120-3000VE(Sumitomo 3M)-

Peripheral device/option

Communication
1-1827876-3
port(TE Connectivity)with PLC
Control
734-144
CN2 power supply(WAGO)
input port
Communication
UBB-4R-D14T-4D
port
CN4
(JST)
with setting PC
CN1

Opponent's connector Opponent's connector Opponent's Communication
connector
housingpinmethodAccessories

Name

GKL-15 (17)-□□-N□
CN10

Input port fordrive power supply

2-917541-2(TE Connectivity)

2-179958-4(TE Connectivity)

316040-2(TE Connectivity)

-

CN11

Ports that supply power
to the first axis motor

1-917541-2(TE Connectivity)

1-179958-4(TE Connectivity)

316040-2(TE Connectivity)

-

CN12

Ports that supply power
to the second axis motor

1-917541-2(TE Connectivity)

1-179958-4(TE Connectivity)

316040-2(TE Connectivity)-

100

System GSK

Port
NO.

Port
NO.

Positioning GSK

Device-NET
PROFI-NET-I/O

Controller

Axis②

Display
CN7

Control
power
supply
DC24V

CN21

CN3

CN21

CN1

Encoder(resolver)
Sensor cable

Control
power
supplyDC24V

CN11(Various fieldbus compatible) CN14

PLC

CN1

SettingPC

CN5

Controller

CN11

Motor
drive
power
supplyControlpower supply
DC24V

CN2
Host
computer

Motor drive
power supply

G S K

CN1

【2axes control specification】

Axis①

AC200〜220V

GKL current sensor control nut runner system■Interface(Common to GSK/positioning GSK)

Connection diagram■Controller

G S KController
Positioning GSK
System GSK
Peripheral device/option

101

102

GKL current sensor control nut runner system■Interface(Common to GSK)

Specifications■Controller

Model

GSK-IF-N1

Input of control power supply

Weight［kg］

0.54

Input of drive power supply

Input of control
power supply

DC24V±10% 1.0Amax

Screen6 digit 7 segment LED

Start-up inrush current

5.0A

Drive motor

AC Servo Motor

0.2A

Drive power supply inrush current
prevention mechanism

Inrush current prevention circuit

Analog monitor output

2 points ± 8 V(It Ooutputs the torque, speed and current tothe
check terminal on panel surface.) (set by parameter)

Available temperatureand humidity

0〜50℃ 90% RH or less (no condensation)

Positioning battery

GSK-BATT(lifespan is 2 years)

Supported SD card

SD and SDHC typeSD card record contents

Setting / Maximum 8000 items, Clamp history / Maximum 2 million items,
Tightening waveform / Maximum 2 million items
Alarm history / 16 for each axis, Tightening history / 5000 for each axis,
Tightening waveform / 1 for each axis

Main body preserved
content
Available temperatureand humidity

AC160〜264V

50/60Hz

Controller

Up to 30 axes

3-phaseG S KControl power supply
rated current
Number of nut runnercontrollable axes

DC24V±10% 1.0Amax

0〜50℃ 90% RH or less (no condensation)
AnybusBattery

CR2450/Panasonic (lifespan is 5 years)

Positioning GSK

Fieldbus

Corresponding fieldbus

GSK-IF-N1

M-NET

GSK-IFCC-N1

CC-LINK

GSK-IFDN-N1

Device-NET

GSK-IFPNIO-N1

PROFI-NET-I/O

GSK-IFPNIRT-N1

PROFI-NET-IRT

GSK-IFFL-N1

FL-NET

GSK-IFET-N1

Ether-NET

GSK-IFSG-N1

SYSTEM GSK

GSK-IFDN(ET)-N1

Device-NET+ Ether-NET

GSK-IFCC(ET)-N1

CC-LINK+Ether-NET

Specification

Standard type

Standard 2-axis type

T typeT 2-axis type

Model

Weight[kg]Heat sink mounting position

GSK-14

1.3

No mounting

GSK-15

2.4

GSK-17

2.7

GSKW-14

1.27

No mounting

GSKW-15

4.0

Side mounting

GSK-T4

1.3

No mounting

GSK-T5

2.4

GSK-T7

2.4

GSKW-T4

1.3

No mounting

GSKW-T5

3.7

Rear mounting

Tightening result output by field bus
Corresponding standard

Output contents

Ether-NET

Tightening waveform
All contents of the "online" item in the setting software

103

104

Side mounting

Rear mounting

Peripheral device/option

Corresponding standard

System GSKInterface model

GKL current sensor control nut runner system■Interface (Common to GSK)

Model composition■Controller◆Model composition◆Model composition①①※①Supported communication standard

CC ： CC-LINK②Corresponding series symbol

Blank： 1 axis type

※Please fill in the communication standard of channel 13 side when
two Anybus are connected.
Example: GSK-IFDN (ET) -N 1

W ： 2 axis type

DN ： Device-NET

①

③

②

①Number of nut runners to be controlled

item： Standard(Common to positioning and nut runner)

N1

4 - E

PNIRT ： PROFI-NET-IRT

5

FL ： FL-NET

7

⑤

⑥

②Heat sink mounting position

T ： Back (T type)④Angle sensor type

※1

E ： Encoder

This number will vary dependingon the nut runner used.

R ： Resolver

Please check the corresponding controller
columnof Nut runner's Specification /Dimension Table for which number to use.

※1 Depending on the nut runner model※ W specification correspond to only 4 and 5.

ET ： Ether-NET⑥Corresponding series symbol

Blank： Standard type
◆Model list
Communication standard

GSK-IF-N1

M-NET

GSK-IFCC-N1

CC-LINK

GSK-IFDN-N1

Device-NET

GSK-IFPNIO-N1

PROFI-NET-I/O

GSK-IFPNIRT-N1

PROFI-NET-IRT

GSK-IFFL-N1

FL-NET

GSK-IFET-N1

Ether-NET

GSK-IFSG-N1

System GSK specification(I/O)

GSK-IFDN(ET)-N1

Device-NET + Ether-NET

GSK-IFCC(ET)-N1

CC-LINK + Ether-NET

105◆Model list
Model

Number of nut runners
to be controlled

GKL-14-□□-N2
GKL-15-□□-N2

No mounting
1 axis type

GKL-17-□□-N2
GKLW-14-□□-N2
GKLW-15-□□-N2

2 axis type1 axis type

GKL-T7-□□-N2
GKLW-T4-□□-N2
GKLW-T5-□□-N2

Side mounting
No mounting
Side mounting
No mounting

GKL-T4-□□-N2
GKL-T5-□□-N2

Heat sink mounting position

2 axis type106

Rear mounting
No mounting
Rear mounting

Peripheral device/option

Model

N2 ： Standard item

System GSK⑤Angle sensor spec

SG ： System GSK（I/O）

Positioning GSK

4④

1 ： Side (Standard type)③Nut runner rated value

PNIO ： PROFI-NET-I/O- N2

Controller

Blank ： M-NET

②

W - 1

G S K

GKL

GSK - IF CC ( ) - N1

GKL current sensor control nut runner system■Interface (Common to GSK)■Controller

Model

Weight(kg)Model

GSK-IF-N1

0.54

GSK-IFFL-N1

GSK-IFPNIO-N1

Weight(kg)GSK-IFET-N1

Standard type 1 axis specification

0.59

Model

Weight(kg)GKL-14 (T4)-□□-N2

1.3

Model

Weight(kg)GKL-15 (17)-□□-N2

2.4 (2.7)

GSK-IFSG-N1

0.59

GSK-IFDN(ET)-N1

GSK-IFPNIRT-N1

GSK-IFCC(ET)-N1

G S K

GSK-IFCC-N1
GSK-IFDN-N1

Dimension table

0.64

Controller※ It is attached only to the top axis.

Positioning GSK
Peripheral device/option※15 type does not have a fan

107

System GSK

Fan

108

GKL current sensor control nut runner system■Controller

Dimension table
T type 1 axis type

Standard type 2 axis type
Weight(kg)

GKLW-14 (T4)-□□-N2

1.3

Weight(kg)GKL-T5 (T7)-□□-N2

2.4
G S K

Model

Model

Controller

Weight(kg)

GKLW-15-□□-N2

4.0

T type 2 axis type
Model

Weight(kg)

GKLW-T5-□□-N2

4.0

System GSK

Model

Positioning GSK

Nutrunner Regarding the rated capacity 4 type, the cooling plate is unnecessary, so the standard and T type are common.

Peripheral device/option

109

110

GKL current sensor control nut runner system

Cable connection configuration■Cable configuration◆Direct cable◆Extension cable (GKL is relay cables can be used.)

Connect from controller to nut runner with one.

Connect from controller to nut runner with 3 pcs.
G S K

Motor extension movable cable
Motor relay movable cable

Motor relay fixed cable

Motor direct cable(P.113)

Cable

Encoder direct cable
Encoder direct cable(P.115)(Resolver Direct Cable)(P.117)

Encoder relay fixed cable
Resolver relay fixed cable

Encoder extension cable (P.116)(Resolver extension cable)(P.118)※It is equivalent to relay movable cable.

System GSK◆Relay cable
Connect from controller to nut runner with 2 pcs.

Motor relay fixed cable(P.114)

Encoder relay movable cable(P.116)

Encoder relay fixed cable(P.116)

Resolver relay movable cable(P.118)Resolver relay fixed cable(P.118)Peripheral device/option

Motor relay movable cable(P.114)

Positioning GSK

Encoder relay movable cable(Resolver relay movable cable)

111

112

GKL current sensor control nut runner system

Motor cable◆ Relay cable■Motor cable◆Direct cable

④

④
③

A

B

A

②

A

D

B

Connector type W symbol②

Connector type W symbol②

C Connector type blank【Model】

K8 M

3 D
②

①Nutrunner rated current

M

Blank ： GKL-15(17) GKL-T5(T7)【Model】

K8 M

W ： GKL-14 GKL-T4

3 T①-4 A ②③

M④①Nutrunner rated current ②Connector type③Cable segment

3 ： GKL-14 GKL-T4

Blank： GKL-15(17) GKL-T5(T7)

R ： Motor relay movable cable

12： GKL-15 GKL-T5

W ： GKL-14 GKL-T4

A ： Motor relay fixed cable④Cable length③Cable length

Designation of cable length(Specified unit:1m)

Designation of cable length(Specified unit:1m)※1 Maximum guaranteed cable length 20 m (nut runner to inter-controller length)※2 Custom-made cable of 20 m or more is manufacturable,
but operation guarantee is not possible. Please check the operation by the customer.
※3 All cables are ﬂex cables.

【Model list】【Model list】
Corresponding
controller

K8M3DW-4R-□M

GKL-14
GKL-T4

K8M12D-4R-□M

GKL-15
GKL-T5

Direct cable

Model

Corresponding
controller

Relay
movablecable

K8M3TW-4R-□M

GKL-14
GKL-T4

K8M12T-4R-□M

GKL-15
GKL-T5

Name

Model

Corresponding
controller

Relay
fixed
cable

K8M3TW-4A-□M

GKL-14
GKL-T4

K8M12T-4A-□M

GKL-15
GKL-T5【Specification】【Specification】
Housing modelContact type

A

350715-1（AMP）

350550-1（AMP）

B

2-178128-4（AMP）

1-353717-2（AMP）

C

2-179958-4（AMP）

316040-2（AMP）

Shape

113

凹

Housing modelContact type

A

350715-1（AMP）

350550-1（AMP）

B

2-178128-4（AMP）

1-353717-2（AMP）

C

2-179958-4（AMP）

316040-2（AMP）

D

350781-1（AMP）

350547-3(AMP) (PinNo.1〜3)
350669-1(AMP) (PinNo.4)

114

Shape
凹

凸

Peripheral device/option

Model

Name

Name

System GSK※1 Maximum guaranteed cable length 20 m (nut runner to inter-controller length)※2 Custom-made cable of 20 m or more is manufacturable,
but operation guarantee is not possible. Please check the operation by the customer.
※3 All cables are ﬂex cables.

Positioning GSK

12： GKL-15 GKL-T5③③②Connector type

3 ： GKL-14 GKL-T4

Relay fixed cable

③

Cable

①

-4 R -

Relay movable cable

G S K

②

C Connector type blank

GKL current sensor control nut runner system

Encoder cable■Encoder cable◆Direct cable◆Relay cable
②

①

A

C

【Model】

B A
Relay movable cable

Relay fixed cable①①【Model】

8 E D- 8 R -8 E T- 8 R -

M

①

M
Cable

①
①Cable length

C

G S K

A

②

②

①Cable division

Designation of cable length(Specified unit:1m)※1 Maximum guaranteed cable length 20 m (nut runner to inter-controller length)※2 Custom-made cable of 20 m or more is manufacturable, but operation guarantee is not possible.
Please check the operation by the customer.
※3 All cables are ﬂex cables.

Positioning GSK

R ： Relay movable cable
A ： Relay fixed cable※1 All cables are ﬁex gables.

②Cable length

System GSKDesignation of cable length(Specified unit:1m)※2 Maximum guaranteed cable length 20 m (nut runner to inter-controller length)※3 Custom-made cable of 20 m or more is manufacturable, but operation guarantee is not possible.
Please check the operation by the customer.

【Model list】

Name

Model

Name

Model

Direct cable

8ED-8R-□M

Relay movable cable

8ET-8R-□M

Relay fixed cable

8ET-8A-□M

Peripheral device/option【Model list】【Specification】【Specification】
Housing/connector model

Housing/connector modelContact type

Shape

Contact type

Shape

A

1-1318118-6（AMP）

1318108-1（AMP）

凹

A

1-1318118-6（AMP）

1318108-1（AMP）

凹

B

1-1318115-6（AMP）

1318112-1（AMP）

凸C

10120-3000VE（3M）10320-52A0-008（3M）凸C10120-3000VE（3M）10320-52A0-008（3M）

凸

115

116

GKL current sensor control nut runner system

Resolver cable■Resolver cable◆Direct cable◆Relay cable①

Green Heat Shrink Tube

②

A

C

【Model】

B A
Relay fixed cable①①

8 R T- 8 R -

M

①

M
Cable

①
①Cable length

C

Relay movable cable【Model】

8 R D- 8 R -②

Green Heat Shrink Tube

G S K

A

Green Heat Shrink Tube②

①Cable division

Designation of cable length(Specified unit:1m)※1 Maximum guaranteed cable length 20 m (nut runner to inter-controller length)※2 Custom-made cable of 20 m or more is manufacturable, but operation guarantee is not possible.
Please check the operation by the customer.
※3 All cables are ﬂex cables.

Positioning GSK

R ： Relay movable cable
A ： Relay fixed cable※1 All cables are ﬂex cables.

②Cable length

System GSKDesignation of cable length(Specified unit:1m)※2 Maximum guaranteed cable length 20 m (nut runner to inter-controller length)※3 Custom-made cable of 20 m or more is manufacturable, but operation guarantee is not possible.
Please check the operation by the customer.

【Model list】

Name

Model

Name

Model

Direct cable

8RD-8R-□M

Relay movable cable

8RT-8R-□M

Relay fixed cable

8RT-8A-□M

Peripheral device/option【Model list】【Specification】【Specification】
Housing /connector model

Housing /connector modelContact type

Shape

Contact type

Shape

A

1-1318118-6（AMP）

1318108-1（AMP）

凹

A

1-1318118-6（AMP）

1318108-1（AMP）

凹

B

1-1318115-6（AMP）

1318112-1（AMP）

凸C

10120-3000VE（3M）10320-52A0-008（3M）凸C10120-3000VE（3M）10320-52A0-008（3M）

凸

117

118

GKL current sensor control nut runner system

Cable specification list

■Cable specification list
◆Motor cable withstand voltage 600V North American specification compliant
Cable type

Type

DirectK8M12D-4R-□M
K8M3TW-4A-□M

Relay fixed

K8M12T-4A-□M

Relay fixed

K8M12T-4R-□M Relay movable

Cable size

GKL(W)-14
GKL(W)-T4

0.5X4
AWG21 600V

8.8mm

GKL(W)-15
GKL(W)-T5

0.75X4
AWG18 600V

9.5mm

GKL(W)-14
GKL(W)-T4

0.5X4
AWG21 600V

8.8mm

GKL(W)-15
GKL(W)-T5

0.75X4
AWG18 600V

9.5mm

Cable type8□□-8□-□M

5.2A

8R□-8□-□M

Type

Corresponding
controller

Common to all models

Cable size

Cable
outer
diameter

Coating
color

Cable type

AWG23

8.44mmBlack

Flex cable

14.4A

Gray

5.2A

Flex cable
Cable

K8M3TW-4R-□M Relay movable

Cable
Cable
Coating allowable
outer
Cable typecolor
diametercurrent

Corresponding
controller

G S K

K8M3DW-4R-□M◆Encoder/Resolver cable

14.4A

Positioning GSK
System GSK
Peripheral device/option

119

120

GKL current sensor control nut runner system

Setting software■Setting software

To carry out various settings of GKL, a PC in which setting software is installed is required
Various settings, communication status with upper device, tightening result, andtightening waveform can be conﬁrmed with setting software.

Setting software
Language
model

GKL-SET-SOFT-J

Japanese

GKL-SET-SOFT-E

English◆Setting cable model
Cable for connecting PC in which setting
software of GSK is installed and interface.

Controller type
GKL
GKLW

Model

Cable length［m］

GK-SET-1.8M

1.8m■Hierarchy of setting software

Screen for setting the screw No. array to be
displayed on the display (GSK-D1/ GK-D1 series)

Screen for setting the details of used nut runner

F1 Setting read
F2 Setting write
F1 Common setting

F3 Setting

F1 Calendar and basic unit setting

F1 Calendar setting

F2 Screw number setting

F2 Unit setting

F4 Automeasurement【SOC.T Setting】【PRE.T Setting】
Positioning GSK

F3 Option setting

F1 Online
F2 Tightening waveform
F3 Tightening record

F2 Nut runner setting

F1 Rating setting

F4 Alarm history

F3 Manual setting

F3 SOC.T SET

F5 Cycle monitor

F4 Auto setting

F4 PRE.T SET

F6 Current step display

F5 REV.T SET
F6 REA.T SET

F1 Zero/magniﬁcation results
F5 Quality control

Torque sensor zero

F2 point adjustment

F3 Positioning setting

Setting software

The setting cable is common to all
setting software.

Supported OS win7/8/8.1/10

Main menu【Rate Setting】

G S K◆Setting software model【Screw number Setting】

F1 Cylinder name setting
F2 X rate. Set

F3 Self diagnosis

F3 Y rate. Set
F5 Timer setting

F1 Monitor
F7 I/O monitor

F2 Dummy input
F3 Dummy output

F4 Program setting

Behavior selection

F8 Help

Screen for setting the rotation for matching abolt with a socket

Screen for setting bolt setting status to seating(temporary tightening)

F5 Unit setting【Main menu】【REV.T Setting】【REA.T Setting】【Setting menu】

Screen for setting seizure judgment after temporary tightening of bolt
Initial screen that is displayed when the setting
software is activatedScreen for setting the final tightening For thetype of final tightening, two types; torquemethod and angle method are available※For the final tightening setting, up to No. 50 can be set.

Screen for carrying out various settings

121

122

Peripheral device/option■Setting screen

F6 Axis off

System GSK

F4 XY point setting

F6 PrintGKL current sensor control nut runner system【Online】

Setting software【Tightening waveform】

Screen for importing the saved in the controller
in PC.

Screen for importing the tightening waveform inPC.

【Program setting】

G S K【Tightening history】

Screen for setting the combination of behaviors
related to tightening(socket matching,temporary
inversion,final tightening)for each axis tightening, final tightening) for each axis.

※Maximum number of saved intightening history per axis:5,000 item

Setting software

Screen for saving the tightening result in PC bymaking a connection to controller.

※Maximum number of programs【 I/O monitor】

Max.numberof axesNumber of
programs

Number of steps

30

16

220

30

50

70

8

50

220

【Auto setting】

System GSK

Screen for importing the alarm data saved in thecontroller in PC.

Positioning GSK【Alarm history】

Screen for checking the I/O status with upperlink.

※Maximum number of saved items inalarm history per axis:16 items

・In the full auto setting, it is a setting screen that creates tightening setting automatically when you enter necessary items.
・In the sampling setting, you can actually tighten the work and make detailed settings.

Screen for checking each version of currently
conffigured parts.

123

124

Peripheral device/option【Self diagnosis】